protected override void OnInitializePhysics()
{
// collision configuration contains default setup for memory, collision setup
CollisionConf = new DefaultCollisionConfiguration();
Dispatcher = new CollisionDispatcher(CollisionConf);
//Broadphase = new SimpleBroadphase();
Broadphase = new AxisSweep3_32Bit(new Vector3(-10000, -10000, -10000), new Vector3(10000, 10000, 10000), 1024);
Solver = new SequentialImpulseConstraintSolver();
World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);
World.Gravity = new Vector3(0, -10, 0);
// create trimesh model and shape
InitGImpactCollision();
// Create Scene
float mass = 0.0f;
CollisionShape staticboxShape1 = new BoxShape(200, 1, 200);//floor
CollisionShapes.Add(staticboxShape1);
LocalCreateRigidBody(mass, Matrix.Translation(0, -10, 0), staticboxShape1);
CollisionShape staticboxShape2 = new BoxShape(1, 50, 200);//left wall
CollisionShapes.Add(staticboxShape2);
LocalCreateRigidBody(mass, Matrix.Translation(-200, 15, 0), staticboxShape2);
CollisionShape staticboxShape3 = new BoxShape(1, 50, 200);//right wall
CollisionShapes.Add(staticboxShape3);
LocalCreateRigidBody(mass, Matrix.Translation(200, 15, 0), staticboxShape3);
CollisionShape staticboxShape4 = new BoxShape(200, 50, 1);//front wall
CollisionShapes.Add(staticboxShape4);
LocalCreateRigidBody(mass, Matrix.Translation(0, 15, 200), staticboxShape4);
CollisionShape staticboxShape5 = new BoxShape(200, 50, 1);//back wall
CollisionShapes.Add(staticboxShape5);
LocalCreateRigidBody(mass, Matrix.Translation(0, 15, -200), staticboxShape5);
//static plane
Vector3 normal = new Vector3(-0.5f, 0.5f, 0.0f);
normal.Normalize();
CollisionShape staticplaneShape6 = new StaticPlaneShape(normal, 0.5f);// A plane
CollisionShapes.Add(staticplaneShape6);
/*RigidBody staticBody2 =*/ LocalCreateRigidBody(mass, Matrix.Translation(0, -9, 0), staticplaneShape6);
//another static plane
normal = new Vector3(0.5f, 0.7f, 0.0f);
//normal.Normalize();
CollisionShape staticplaneShape7 = new StaticPlaneShape(normal, 0.0f);// A plane
CollisionShapes.Add(staticplaneShape7);
/*staticBody2 =*/ LocalCreateRigidBody(mass, Matrix.Translation(0, -10, 0), staticplaneShape7);
// Create Static Torus
float height = 28;
const float step = 2.5f;
const float massT = 1.0f;
Matrix startTransform =
Matrix.RotationQuaternion(Quaternion.RotationYawPitchRoll((float)Math.PI * 0.5f, 0, (float)Math.PI * 0.5f)) *
Matrix.Translation(0, height, -5);
#if BULLET_GIMPACT
kinematicTorus = LocalCreateRigidBody(0, startTransform, trimeshShape);
#else
//kinematicTorus = LocalCreateRigidBody(0, startTransform, CreateTorusShape());
#endif
//kinematicTorus.CollisionFlags = kinematicTorus.CollisionFlags | CollisionFlags.StaticObject;
//kinematicTorus.ActivationState = ActivationState.IslandSleeping;
kinematicTorus.CollisionFlags = kinematicTorus.CollisionFlags | CollisionFlags.KinematicObject;
kinematicTorus.ActivationState = ActivationState.DisableDeactivation;
// Kinematic
//kinTorusTran = new Vector3(-0.1f, 0, 0);
//kinTorusRot = Quaternion.RotationYawPitchRoll(0, (float)Math.PI * 0.01f, 0);
#if TEST_GIMPACT_TORUS
#if BULLET_GIMPACT
// Create dynamic Torus
for (int i = 0; i < 6; i++)
{
height -= step;
startTransform =
Matrix.RotationQuaternion(Quaternion.RotationYawPitchRoll(0, 0, (float)Math.PI * 0.5f)) *
Matrix.Translation(0, height, -5);
/*RigidBody bodyA =*/ LocalCreateRigidBody(massT, startTransform, trimeshShape);
height -= step;
startTransform =
Matrix.RotationQuaternion(Quaternion.RotationYawPitchRoll((float)Math.PI * 0.5f, 0, (float)Math.PI * 0.5f)) *
Matrix.Translation(0, height, -5);
/*RigidBody bodyB =*/ LocalCreateRigidBody(massT, startTransform, trimeshShape);
}
#else
/*
// Create dynamic Torus
for (int i = 0; i < 6; i++)
{
height -= step;
startTransform.setOrigin(btVector3(0, height, -5));
startTransform.setRotation(btQuaternion(0, 0, 3.14159265 * 0.5));
btRigidBody* bodyA = localCreateRigidBody(massT, startTransform, createTorusShape());
height -= step;
startTransform.setOrigin(btVector3(0, height, -5));
startTransform.setRotation(btQuaternion(3.14159265 * 0.5, 0, 3.14159265 * 0.5));
btRigidBody* bodyB = localCreateRigidBody(massT, startTransform, createTorusShape());
}
*/
#endif
#endif
// Create Dynamic Boxes
for (int i = 0; i < 8; i++)
{
CollisionShape boxShape = new BoxShape(new Vector3(1, 1, 1));
CollisionShapes.Add(boxShape);
LocalCreateRigidBody(1, Matrix.Translation(2 * i - 5, 2, -3), boxShape);
}
}
/*
Does not set any local variables. Is safe to use to create duplicate physics worlds for independant simulation.
*/
public bool CreatePhysicsWorld( out CollisionWorld world,
out CollisionConfiguration collisionConfig,
out CollisionDispatcher dispatcher,
out BroadphaseInterface broadphase,
out SequentialImpulseConstraintSolver solver,
out SoftBodyWorldInfo softBodyWorldInfo)
{
bool success = true;
if (m_worldType == WorldType.SoftBodyAndRigidBody && m_collisionType == CollisionConfType.DefaultDynamicsWorldCollisionConf)
{
BDebug.LogError(debugType, "For World Type = SoftBodyAndRigidBody collisionType must be collisionType=SoftBodyRigidBodyCollisionConf. Switching");
m_collisionType = CollisionConfType.SoftBodyRigidBodyCollisionConf;
success = false;
}
collisionConfig = null;
if (m_collisionType == CollisionConfType.DefaultDynamicsWorldCollisionConf)
{
collisionConfig = new DefaultCollisionConfiguration();
}
else if (m_collisionType == CollisionConfType.SoftBodyRigidBodyCollisionConf)
{
collisionConfig = new SoftBodyRigidBodyCollisionConfiguration();
}
dispatcher = new CollisionDispatcher(collisionConfig);
if (m_broadphaseType == BroadphaseType.DynamicAABBBroadphase)
{
broadphase = new DbvtBroadphase();
}
else if (m_broadphaseType == BroadphaseType.Axis3SweepBroadphase)
{
broadphase = new AxisSweep3(m_axis3SweepBroadphaseMin.ToBullet(), m_axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies);
}
else if (m_broadphaseType == BroadphaseType.Axis3SweepBroadphase_32bit)
{
broadphase = new AxisSweep3_32Bit(m_axis3SweepBroadphaseMin.ToBullet(), m_axis3SweepBroadphaseMax.ToBullet(), axis3SweepMaxProxies);
}
else
{
broadphase = null;
}
world = null;
softBodyWorldInfo = null;
solver = null;
if (m_worldType == WorldType.CollisionOnly)
{
world = new CollisionWorld(dispatcher, broadphase, collisionConfig);
}
else if (m_worldType == WorldType.RigidBodyDynamics)
{
world = new DiscreteDynamicsWorld(dispatcher, broadphase, null, collisionConfig);
}
else if (m_worldType == WorldType.MultiBodyWorld)
{
world = new MultiBodyDynamicsWorld(dispatcher, broadphase, null, collisionConfig);
}
else if (m_worldType == WorldType.SoftBodyAndRigidBody)
{
solver = new SequentialImpulseConstraintSolver();
solver.RandSeed = sequentialImpulseConstraintSolverRandomSeed;
softBodyWorldInfo = new SoftBodyWorldInfo
{
AirDensity = 1.2f,
WaterDensity = 0,
WaterOffset = 0,
WaterNormal = BulletSharp.Math.Vector3.Zero,
Gravity = UnityEngine.Physics.gravity.ToBullet(),
Dispatcher = dispatcher,
Broadphase = broadphase
};
softBodyWorldInfo.SparseSdf.Initialize();
world = new SoftRigidDynamicsWorld(dispatcher, broadphase, solver, collisionConfig);
world.DispatchInfo.EnableSpu = true;
softBodyWorldInfo.SparseSdf.Reset();
softBodyWorldInfo.AirDensity = 1.2f;
softBodyWorldInfo.WaterDensity = 0;
softBodyWorldInfo.WaterOffset = 0;
softBodyWorldInfo.WaterNormal = BulletSharp.Math.Vector3.Zero;
softBodyWorldInfo.Gravity = m_gravity.ToBullet();
}
if (world is DiscreteDynamicsWorld)
{
((DiscreteDynamicsWorld)world).Gravity = m_gravity.ToBullet();
}
if (_doDebugDraw)
{
DebugDrawUnity db = new DebugDrawUnity();
db.DebugMode = _debugDrawMode;
world.DebugDrawer = db;
}
return success;
}
